CN109940640A - Servo steering engine based on chip of Internet of things and application method - Google Patents
Servo steering engine based on chip of Internet of things and application method Download PDFInfo
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- CN109940640A CN109940640A CN201910177104.2A CN201910177104A CN109940640A CN 109940640 A CN109940640 A CN 109940640A CN 201910177104 A CN201910177104 A CN 201910177104A CN 109940640 A CN109940640 A CN 109940640A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a servo steering engine based on an Internet of things chip and an application method thereof. The driver realizes the access of the Internet of things and the control and state feedback of the servo driver by using an ESP chip.
Description
Technical field
The present invention relates to Servo-controller fields, more particularly to a kind of Servo-controller with access internet of things functional and answer
Use method.
Background technique
Currently, robot gradually enters into people's lives, scientific research robot, educational robot, life from industrial circle
Service humanoid robot etc. emerges one after another.The gradually rise of Internet of Things industry simultaneously, the following conception such as intelligent driving, smart city
Completely new requirement is proposed to related Intelligent hardware.For these completely new application scenarios, Servo-controller Function Extension is also weight
In it is weight.
Currently, most of common steering engines are connected using signal wire with controller, pass through PWM square-wave signal or bus signals
It is controlled.In order to guarantee to control signal stabilization, the cable between controller and steering engine cannot be too long, and the two is in most cases
Mounting distance is very close, greatly limits its usage scenario.A small number of wireless solutions mainly include the wireless steering engine of sliding slot,
2.4G remote control, wireless steering engine control panel etc..Sliding slot is wireless steering engine simply by the mode of brush sliding rail instead of cable, not
Really solve above-mentioned distance limitation；2.4G remote control and wireless steering engine control panel are equivalent between control terminal and steering engine and increase by one
A wireless signal retransmission unit, steering engine and retransmission unit or two discrete modules, and still need to pass through cable between the two
Connection, structure is not compact enough, and the scene used is all relatively simple.
Summary of the invention
Purpose of the invention is to overcome the shortcomings in the prior art, provide it is a kind of based on Internet of Things chip can be wireless
The Servo-controller and its application method of control.By using ESP chip, by means of ESP chip realize Internet of Things access and
Control and state feedback to servo-driver.
The purpose of the present invention is achieved through the following technical solutions:
A kind of Servo-controller based on Internet of Things chip, including steering engine shell, motor, gear reduction box, output shaft, steering wheel
With steering engine control panel, the steering engine shell is made of shell in steering engine upper casing, steering engine and steering engine lower casing, the motor, The gear deceleration
Case and steering engine control panel are all set in steering gear shell body, and the transmission shaft of the motor passes through matched gear and The gear deceleration
The input gear of case engages connection, and the output gear of the gear reduction box engages connection, the output shaft with output shaft gear
End connect the steering wheel, driving circuit, ESP chip, serial port circuit, sensor extension are integrated in the steering engine control panel
Interface, potentiometer and bus terminal；Steering engine control panel is electrically connected with motor, potentiometer.
Further, the steering engine upper casing is equipped with the connecting hole for docking with bus terminal.
A kind of application method of Servo-controller, comprising the following steps:
(1) it is based on the ESP chip, by mobile phone distribution, WIFI is configured to the Servo-controller and connects network, pass through
Mqtt agreement establishes the communication of Servo-controller and Cloud Server；
(2) user terminal can control Servo-controller and obtain related data information by mqtt protocol access Cloud Server；?
Under the same local area network, user terminal can directly be communicated with the Servo-controller by tcp agreement；
(3) Servo-controller is by the different bus sensors module of sensor expansion interface carry to by sensor
Measurement data accesses Internet of Things, realizes widening for application scenarios；
(4) user terminal realizes that read the Servo-controller information and control Servo-controller transports offline by custom feature
Row.
Compared with prior art, the beneficial effects brought by the technical solution of the present invention are as follows:
1. the Servo-controller can reduce signal wire, compact overall structure, scalability is strong.
2. the application scenarios of Servo-controller can be expanded, especially indoor scenes of internet of things, such as smart home.
3. having gathered motor and steering engine control panel, the driving part of smart home can be become, the Servo-controller can be passed through
Realize the operation such as open the door, draw curtain；Internet of Things can be accessed by connection types such as wifi, be applied to Internet of Things industry.
4. Internet of Things or wifi local area network are had access to since Servo-controller is using ESP chip as main control chip, so that with
Family end is not limited with Servo-controller by distance, and manipulation is more efficient, and convenience is stronger, and safety is higher, especially suitable for long-range
Control.
5. the Servo-controller has external expansion bus terminal, external access power supply can be both used to, while can also connect
Sensor is connect, and these sensors have also been accessed into Internet of Things together, perception is sensitiveer, and automation and intelligence degree mention significantly
It is high.
Once it is arranged online 6. the custom feature inside the Servo-controller can satisfy user, off-line is transported later
Row remains to effectively work, improves whole system even if guaranteeing that the wifi network short time interrupts whole device under special circumstances
Reliability and robustness.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the Servo-controller.
Fig. 2 is the external structure schematic diagram of the Servo-controller.
Fig. 3, Fig. 4 are the Servo-controller schematic diagram of internal structures.
Fig. 5 is the application environment general frame schematic diagram of the Servo-controller.
Fig. 6 is the electrical connection schematic illustration of the Servo-controller.
Fig. 7 a to Fig. 7 f is ESP32 chip, voltage regulator circuit, hardware communications, motor driven, electricity in steering engine control panel respectively
Stream detection, angle detection scheme figure.
Appended drawing reference: shell in 1- steering engine, 2- steering engine lower casing, 3- gear reduction box, 4- output shaft, 5- steering wheel, 6- steering engine control
Making sheet, 7- potentiometer, 8-ESP32 chip, 9- bus terminal, 10- motor, 11- steering engine upper casing
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
As shown in Figures 1 to 4, a kind of Servo-controller based on Internet of Things chip, including steering engine shell, motor 10, gear
Reduction gearbox 3, output shaft 4, steering wheel 5 and steering engine control panel 6, steering engine shell is by shell 1 in steering engine upper casing 11, steering engine and steering engine lower casing 2
Composition, motor 10, gear reduction box 3 and steering engine control panel 6 be all set in steering gear shell body, 10 transmission shaft of motor by gear with
The input gear of gear reduction box 3 engages connection, and the output gear of gear reduction box 3 engages connection with 4 gear of output shaft, exports
The end of axis 4 connects steering wheel 5, and driving circuit, ESP32 chip 8, serial port circuit, sensor extension are integrated in steering engine control panel 6
Interface, potentiometer 7 and bus terminal 9；Steering engine upper casing 11 is equipped with the connecting hole for docking with bus terminal 9.Fig. 6 is described
The electrical connection schematic illustration of Servo-controller, it is clear, brief, intuitive to illustrate the working principle of Servo-controller.Steering engine control
Making sheet 6 is electrically connected with motor 10, potentiometer 7, and by potentiometer, steering engine control panel is able to know that the current angular when front output shaft
Position, steering engine control panel can control motor rotation, and motor rotation can be driven output shaft rotation by gear-box, finally be changed defeated
Entire closed-loop control is realized in shaft angle position
As shown in figure 5, the application architecture example of Servo-controller of the present invention is illustrated, it is specific as follows: by by means of ESP32
Chip is realized the access of Internet of Things and is fed back to the control of Servo-controller, state.By mobile phone one-key distribution, Servo-controller is given
Configuration wifi simultaneously connects network, and the communication of Servo-controller and Cloud Server is established by mqtt agreement.User terminal can pass through
Mqtt laundry access Cloud Server control Servo-controller simultaneously obtains related data information.Under the same local area network, user terminal
It can directly be communicated with Servo-controller by tcp agreement.Furthermore Servo-controller is equipped with sensor expansion interface, can be with carry difference
Bus sensors module and sensor measurement data is accessed by Internet of Things by bus steering engine, improve and widen its application scenarios.
There is a part of self defining programm area inside Servo-controller simultaneously, (read sensor, steering engine information, control for user is customized
Steering engine etc.), and off-line operation can be kept.Chip ESP32 in the present embodiment can also be replaced with other Internet of Things chips, such as
ESP8266 etc..
With external power supply, internal battery (wirelessly or non-wirelessly charging) numerous embodiments.It, can be direct if external power supply
Pass through 9 external power supply of bus terminal；If internal battery, a battery can be placed in inside, what dress is increased according to inside
It sets, unrestricted choice charging modes；
If 7a to Fig. 7 f is the hardware plan figure of the steering engine control panel in Servo-controller respectively, used in the present embodiment
ESP32 series monolithic is minimum system core, has had both wireless wifi networking, serial bus communication, collection of simulant signal, number
Multiple functions, the schematic diagram such as word signal acquisition and control signal output are shown in Fig. 7 a,
About its peripheral circuit, ESP32 family chip generates clock reference signal without source crystal oscillator using 40MHz.It is resetted
Pin CHIP_PU chip under high level state enables work, and input terminal cooperates proper circuit to generate delay effect, so that
The high level signal of CHIP_PU is later than power vd DA generation.
About its I O assignment；According to design requirement, voltage acquisition, current acquisition, current potential device angle acquisition etc. are mould
Quasi- signal input, thus distributed and support the specific I/O port of ADC function in chip.Pwm control signal is then that digital signal is defeated
Out, pin assignments consider wiring optimization distribution.
Voltage regulator circuit scheme is shown in that Fig. 7 b, hardware circuit are powered using ASM1117-3.3 power supply voltage stabilizing chip.Support Width funtion
(4.8~10.3V) input, typical output current 1.5A support to work under -20 DEG C~125 DEG C environment.
Hardware communications scheme is shown in that Fig. 7 c, control signal use serial bus control mode, and minimum system core board is integrated with
SN74LVC2G126 serial bus chip cooperates serial communication protocol, in turn ensures steering engine parameter while realizing single wire control
The function of passback feedback in real time.
Motor drive schemes are shown in Fig. 7 d, and the main control object of this Servo-controller is common magneto, so driving in motor
Dynamic part uses N+P hybrid driving circuit.MOS is driven to drive MOS, maximum DC operation using SUF2001 typical case N+P binary channels
Electric current 5.3A or more, transient current are up to 21A.
Sensor and Sensing interface scheme are shown in Fig. 7 e and Fig. 7 f, and wherein voltage detecting is produced using simple series connection bleeder circuit
Raw analog signal inputs minimum system, and is acquired by ESP32 chip ADC function.
Current detecting uses MAX471 current detecting chip, inputs ESP32 chip, real-time detection hardware by analog signal
Circuit input current provides hardware foundation for Premium Features such as overload protections.
Angle detection carries out analog output using precision potentiator, and is number by ESP32 chip ADC functional shift
Signal realizes the functions such as the control of steering engine angle, speed control using pid control algorithm.
The present invention is not limited to embodiments described above.Above the description of specific embodiment is intended to describe and say
Bright technical solution of the present invention, the above mentioned embodiment is only schematical, is not restrictive.This is not being departed from
In the case of invention objective and scope of the claimed protection, those skilled in the art may be used also under the inspiration of the present invention
The specific transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (3)
1. a kind of Servo-controller based on Internet of Things chip, which is characterized in that including steering engine shell, motor, gear reduction box, defeated
Shaft, steering wheel and steering engine control panel, the steering engine shell are made of shell in steering engine upper casing, steering engine and steering engine lower casing, the motor,
Gear reduction box and steering engine control panel are all set in steering gear shell body, the transmission shaft of the motor by matched gear with
The input gear of gear reduction box engages connection, and the output gear of the gear reduction box engages connection, institute with output shaft gear
It states output the tip of the axis and connects the steering wheel, be integrated with driving circuit, ESP chip, serial port circuit, biography in the steering engine control panel
Sensor expansion interface, potentiometer and bus terminal；Steering engine control panel is electrically connected with motor, potentiometer.
2. a kind of Servo-controller based on Internet of Things chip according to claim 1, which is characterized in that on the steering engine upper casing
Equipped with the connecting hole for being docked with the bus terminal.
3. a kind of application method of Servo-controller, based on the Servo-controller based on Internet of Things chip described in claim 1, feature
It is, comprising the following steps:
(1) it is based on the ESP chip, by mobile phone distribution, WIFI is configured to the Servo-controller and connects network, pass through mqtt
Agreement establishes the communication of Servo-controller and Cloud Server；
(2) user terminal can control Servo-controller and obtain related data information by mqtt protocol access Cloud Server；Same
Under a local area network, user terminal can directly be communicated with the Servo-controller by tcp agreement；
(3) Servo-controller is by the different bus sensors module of sensor expansion interface carry to by sensor measurement
Data access Internet of Things realizes widening for application scenarios；
(4) user terminal is realized by custom feature reads the Servo-controller information and control Servo-controller off-line operation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910177104.2A CN109940640B (en) | 2019-03-08 | 2019-03-08 | Servo steering engine based on Internet of things chip and application method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910177104.2A CN109940640B (en) | 2019-03-08 | 2019-03-08 | Servo steering engine based on Internet of things chip and application method |
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| CN109940640B CN109940640B (en) | 2023-08-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114281071A (en) * | 2021-04-13 | 2022-04-05 | 南京天之博特机器人科技有限公司 | Control system of ROS AI-IOT intelligent autonomous navigation robot |
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| CN203804996U (en) * | 2014-04-04 | 2014-09-03 | 华南理工大学广州学院 | Steering engine for joints of household robot |
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| WO2017214954A1 (en) * | 2016-06-16 | 2017-12-21 | 深圳市创客工场科技有限公司 | Servo |
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2019
- 2019-03-08 CN CN201910177104.2A patent/CN109940640B/en active Active
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| CN203804996U (en) * | 2014-04-04 | 2014-09-03 | 华南理工大学广州学院 | Steering engine for joints of household robot |
| WO2017214954A1 (en) * | 2016-06-16 | 2017-12-21 | 深圳市创客工场科技有限公司 | Servo |
| CN107203184A (en) * | 2017-06-20 | 2017-09-26 | 南京理工大学 | The dynamic control method of straight line steering wheel Electric Loading System |
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Non-Patent Citations (1)
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| CN114281071A (en) * | 2021-04-13 | 2022-04-05 | 南京天之博特机器人科技有限公司 | Control system of ROS AI-IOT intelligent autonomous navigation robot |
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